| 摘要 |
PURPOSE:To restore the position of a vehicle to a correct position quickly by comparing the position of a moving body with a position according to a satellite navigation means when it runs outside the road, and by restoring it to the position according to the satellite navigation means preferentially when the separation of the position of the moving body from the position according to this means becomes larger than a prescribed distance. CONSTITUTION:It is determined whether there are road data for map matching in the vicinity of the current position or not, and when the result if NO, a distance D of separation of the present position (xi, yi) of a vehicle from the present position (Xg, Yg) according to satellite navigation is determined by the equation. Then, it is determined whether the distance D of separation is smaller than a prescribed value K or not, and the coordinates according to a satellite navigation means 15 are used preferentially when the former is larger than the latter. |
